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WALKER TEAM
LINKAGE VEHICLE
THE WALKER
TEAM MEMBERS
Eric Schlange - Frame and Drive DesignSeth Bohlken - Leg Design
Landon Stephens - Arm DesignGage Fox - Arm Design
Avery Coronado - Claw DesignThomas Prater - Electrical Programming
OBJECTIVE
• Create a walking linkage vehicle
• Build mechanical arm to grab objects
• Successfully walk and move objects
OVERALL SPECIFICATIONS
Requirement Nominal Tolerance
Overall Weight 50 lb max
Overall Size 2'W x 3'L x 2'H max
Max Added Weight 15 lb min
OVERALL DIMENSIONS
FRAME OF VEHICLE
• Made primarily out of Delrin
• Provides mounting locations for motors and other controls
• Location for arm to be mounted
SIDE PLATE ANALYSIS
TOP PLATE ANALYSIS
POWER TRANSMISSION TO THE LEGS
WALKING MECHANISM
Requirement Nominal Tolerance
Step Up 7 in min
Max Incline 30 deg min
Turn 360 deg min
Multi-Terrain Present N/A
Walk Speed 3 mph min
45 rot * 2 ft * mile * 60 min = 1.02 mph
min rot 5280 ft hr
WALKING MECHANISM
Requirement Nominal Tolerance
Step Up 7 in min
Max Incline 30 deg min
Turn 360 deg min
Multi-Terrain Present N/A
Walk Speed 3 mph min
45 rot * 2 ft * mile * 60 min = 1.02 mph
min rot 5280 ft hr
WALK TEST 1
WALK TEST 2
https://www.ebay.com/itm/DC-12V-Electri-Right-Angle-
Reversible-Gear-Motor-45Rpm-45W-High-Torque-176Lbs-
/172470709765?hash=item28280e2e05:g:bfUAAOSwo4pYa1V-
Motor Specifications:
● 12 V● Rated Torque: 6 Nm = 53 in*lb● Stall Torque: 29 Nm = 256 in*lb● Low RPM: 50 rpm max● Weight: 3.3 lb
LEG TORQUE
FULL LENGTH PINS
TENSIONER 1,2,3
- Two connected to the same rotational axis fight against each other
- The single rod allows spool mounts to rotate
FINAL TENSIONER
ONBOARD MECHANICAL ARM
ARM REACH
Requirement Nominal Tolerance
Max Radial
Reach
24 in min
Max Vertical
Reach
36 in min
Max Arm Pivot 90 degrees min
ARM REACH
SIDE VIEW
MOTOR CLAMP
MOTOR MOUNT
MECHANICAL ARM
REMOVABLE ARM
● Allows arm to rotate about the body
● Powered by Vex servo motor
● Total: $34.98
● Material: Acetal Copolymer
● Yield Strength: 9,800 psi
TURNTABLE BEARING
TURNTABLE BEARING ANALYSIS
CENTER OF MASS - TIPPING
END EFFECTOR
Requirement Nominal Tolerance
Max Object
Weight
1 lb Min
Max Object
Width
4 in Min
Anti-Crush
Grabbing
Present N/A
END EFFECTOR MOTOR
● 17.35 in*lb Servo Motor
● Size: 1.6”x1.6”x.8”
● Amazon: $18
https://www.amazon.com/LewanSoul-LD-20MG-
Standard-Digital-Aluminium/dp/B073F92G2S
LINEAR ACTUATOR
● Provides leveling motion for end effector
● DC 6V
● $69.99
https://www.servocity.com/100-mm-stroke-17-lb-thrust-
light-duty-linear-servo
POWER SOURCE
Requirement Nominal Tolerance
Battery
Powered
Present N/A
Battery Time 15 min min
Battery Specifications: 13 V 9 Ah
4.25”L x 2.25”W x 3.75”H1.9 lbs
https://shop.antigravitybatteries.com/products/starter-batteries/small-case/ag-801/
CONTROLS
https://www.amazon.com/Flysky-Upgrade-Transmitter-
Receiver-
Crazepony/dp/B01NABG5TY/ref=sr_1_2?ie=UTF8&qid=1508
871195&sr=8-2&keywords=8+channel+rc+controller
Requirement Nominal Tolerance
Remote
Distance
100 ft min
Camera Present N/A
Camera
Distance
100 ft min
RC Remote Specifications: 10 Channels
2.4 GHz
PROCESSOR
● Arduino Mega 2560
● Capable of analog & digital input
● Capable of digital and PWM output
● Can source 3.3v or 5v power
https://www.arduino.cc/en/Main/arduinoBoardMega2560/
PROGRAMMING THE
DRIVING MOTORS
● Receiver sends voltage to Arduinobased on the left joystick’s position
● Arduino compares these two values to each other and default to decide between forwards, backwards, rotational, or no motion.
CONSTRUCTION SCHEDULE
Full Schedule in Appendix
BUDGETSpending to Date: $1,242.87
Income to Date: $1,100.00
Grant - $500.00
Pitt Power Page - $600.00
Out of Pocket Expenses:
Hardware
Receiver
Wire
Wood
Category Amount
Motors 220.95
Electronics 219.87
Main Assembly:
Frame, Legs, Arm,
Claw, Hardware
677.71
Accessories 78.16
Shipping 46.18
Total 1242.87
Itemized Budget in Appendix
QUESTIONS?
ITEMIZED BUDGET
CONSTRUCTION SCHEDULE
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